Smart factor for range SLAM.
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| SmartRangeFactor () |
| | Default constructor: don't use directly.
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| | SmartRangeFactor (double s) |
| | Constructor.
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void | addRange (Key key, double measuredRange) |
| | Add a range measurement to a pose with given key.
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| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| | print
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| bool | equals (const NonlinearFactor &f, double tol=1e-9) const override |
| | Check if two factors are equal.
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Point2 | triangulate (const Values &x) const |
| | Triangulate a point from at least three pose-range pairs Checks for best pair that includes first point Raise runtime_error if not well defined.
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| Vector | unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override |
| | Error function without the NoiseModel, \( z-h(x) \).
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| gtsam::NonlinearFactor::shared_ptr | clone () const override |
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Vector | unwhitenedError (const Values &x, std::vector< Matrix > &H) const |
| | support taking in the actual vector instead of the pointer as well to get access to this version of the function from derived classes one will need to use the "using" keyword and specify that like this: public: using NoiseModelFactor::unwhitenedError;
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| NoiseModelFactor () |
| | Default constructor for I/O only.
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| ~NoiseModelFactor () override |
| | Destructor.
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template<typename CONTAINER> |
| | NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys) |
| | Constructor.
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| size_t | dim () const override |
| | get the dimension of the factor (number of rows on linearization)
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const SharedNoiseModel & | noiseModel () const |
| | access to the noise model
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Vector | unwhitenedError (const Values &x, std::vector< Matrix > &H) const |
| | support taking in the actual vector instead of the pointer as well to get access to this version of the function from derived classes one will need to use the "using" keyword and specify that like this: public: using NoiseModelFactor::unwhitenedError;
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| Vector | whitenedError (const Values &c) const |
| | Vector of errors, whitened This is the raw error, i.e., i.e.
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Vector | unweightedWhitenedError (const Values &c) const |
| | Vector of errors, whitened, but unweighted by any loss function.
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double | weight (const Values &c) const |
| | Compute the effective weight of the factor from the noise model.
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| double | error (const Values &c) const override |
| | Calculate the error of the factor.
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| std::shared_ptr< GaussianFactor > | linearize (const Values &x) const override |
| | Linearize a non-linearFactorN to get a GaussianFactor, \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \).
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shared_ptr | cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const |
| | Creates a shared_ptr clone of the factor with a new noise model.
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| double | error (const HybridValues &c) const override |
| | All factor types need to implement an error function.
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| NonlinearFactor () |
| | Default constructor for I/O only.
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template<typename CONTAINER> |
| | NonlinearFactor (const CONTAINER &keys) |
| | Constructor from a collection of the keys involved in this factor.
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| double | error (const HybridValues &c) const override |
| | All factor types need to implement an error function.
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| virtual bool | active (const Values &c) const |
| | Checks whether a factor should be used based on a set of values.
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| virtual void | qcqpFactors (NonlinearFactorGraph *costs, NonlinearEqualityConstraints *constraints, size_t columnDimension=1) const |
| | Add this factor's QCQP cost and constraints over matrix-valued QCQP variables with the given column dimension.
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| virtual shared_ptr | rekey (const std::map< Key, Key > &rekey_mapping) const |
| | Creates a shared_ptr clone of the factor with different keys using a map from old->new keys.
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| virtual shared_ptr | rekey (const KeyVector &new_keys) const |
| | Clones a factor and fully replaces its keys.
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| virtual bool | sendable () const |
| | Should the factor be evaluated in the same thread as the caller This is to enable factors that has shared states (like the Python GIL lock).
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virtual | ~Factor ()=default |
| | Default destructor.
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bool | empty () const |
| | Whether the factor is empty (involves zero variables).
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Key | front () const |
| | First key.
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Key | back () const |
| | Last key.
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const_iterator | find (Key key) const |
| | find
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const KeyVector & | keys () const |
| | Access the factor's involved variable keys.
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const_iterator | begin () const |
| | Iterator at beginning of involved variable keys.
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const_iterator | end () const |
| | Iterator at end of involved variable keys.
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| size_t | size () const |
| virtual void | printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| | print only keys
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bool | equals (const This &other, double tol=1e-9) const |
| | check equality
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| KeyVector & | keys () |
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iterator | begin () |
| | Iterator at beginning of involved variable keys.
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iterator | end () |
| | Iterator at end of involved variable keys.
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typedef std::shared_ptr< This > | shared_ptr |
| | Noise model.
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typedef std::shared_ptr< This > | shared_ptr |
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typedef KeyVector::iterator | iterator |
| | Iterator over keys.
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typedef KeyVector::const_iterator | const_iterator |
| | Const iterator over keys.
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| NoiseModelFactor (const SharedNoiseModel &noiseModel) |
| | Constructor - only for subclasses, as this does not set keys.
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| Factor () |
| | Default constructor for I/O.
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| template<typename CONTAINER> |
| | Factor (const CONTAINER &keys) |
| | Construct factor from container of keys.
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| template<typename ITERATOR> |
| | Factor (ITERATOR first, ITERATOR last) |
| | Construct factor from iterator keys.
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| template<typename CONTAINER> |
| static Factor | FromKeys (const CONTAINER &keys) |
| | Construct factor from container of keys.
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| template<typename ITERATOR> |
| static Factor | FromIterators (ITERATOR first, ITERATOR last) |
| | Construct factor from iterator keys.
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